CN107923974A - Method and apparatus for FMCW radar processing - Google Patents

Method and apparatus for FMCW radar processing Download PDF

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Publication number
CN107923974A
CN107923974A CN201680047279.6A CN201680047279A CN107923974A CN 107923974 A CN107923974 A CN 107923974A CN 201680047279 A CN201680047279 A CN 201680047279A CN 107923974 A CN107923974 A CN 107923974A
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signal
linear
generate
output data
matrix
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S·拉奥
K·拉玛苏布拉马尼安
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Texas Instruments Inc
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Texas Instruments Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/588—Velocity or trajectory determination systems; Sense-of-movement determination systems deriving the velocity value from the range measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

In described example, a kind of radar installations (100) includes sending the transmitter (101) of the first linear FM signal.First linear FM signal is scattered by one or more barriers to generate the signal of scattering.Multiple receivers (110) receive the signal of scattering.Each receiver (110) is in response to a generation digital signal in the signal of scattering.Processor (120) is coupled to receiver (110) and receives the digital signal from receiver (110).Processor (120) performs scope FFT (Fast Fourier Transform (FFT)) and angle FFT to generate the first matrix of second mining sample in the digital signal received from receiver (110).

Description

Method and apparatus for fmcw radar processing
Technical field
Present application relates generally to radar, and relate more specifically to optimize radar storage requirement.
Background technology
The use of radar in automotive vehicles applications is developing rapidly.Radar finds to can be used for related with the vehicles permitted More applications, such as conflict alert, blind spot warning, lane-change auxiliary, parking auxiliary and rear impact collision warning.Pulse radar and FMCW (are adjusted Frequency continuous wave) radar is mainly used in this kind of application.
In fmcw radar, local oscillator sends signal generation frequency ramp section by frequency modulation(PFM).Frequency ramp section Also referred to as linear FM signal (chirp).Frequency ramp section is amplified and is launched by one or more transmitting elements.Frequency ramp Section is scattered by one or more barriers to generate the signal of scattering.The signal scattered in fmcw radar is by one or more A receiving unit receives.The signal obtained by hybrid frequency oblique ascension section and the signal of scattering is referred to as IF (intermediate frequency) signal.IF The frequency (f) of signal is proportional to the distance (d) of obstacle distance fmcw radar, and the also slope (S) with frequency ramp section It is proportional.
IF signals are sampled by ADC (analog-digital converter).By ADC generation sampling data by processor handle with Obtain position and the speed of one or more barriers.In a kind of fmcw radar, processor performs sampled data and is based on The Coherent processing of FFT (Fast Fourier Transform (FFT)).However, this conventional processing needs the substantial amounts of memory in processor. This size to fmcw radar negatively affects.
Some existing fmcw radars compress the data generated in FFT processing using known memory compression technology. However, these memory compression technologies are inherently what is damaged, therefore it result in the decay of the precision of radar system.Memory Another conventional method reduced is that the scope of fmcw radar can be observed in being handled based on the FFT for being limited in single frame.Cause This, sends multiple frames, and each frame is dedicated for particular range by transmitting element.In this approach, because being regarded to single Open country needs multiple frames, it adds the power consumption of fmcw radar, and also to be difficult with FMCW thunders in real-time application Reach.
The content of the invention
In described example, a kind of radar installations includes the transmitter for sending the first linear FM signal.First Line Property FM signal scattered by one or more barriers to generate the signal of scattering.Multiple receivers receive the signal of scattering. Each receiver is in response to a generation digital signal in the signal of scattering.Processor is coupled to receiver and receives and comes from The digital signal of receiver.Processor performs scope FFT (Fast Fourier Transform (FFT)) in the digital signal received from receiver With angle FFT to generate the first matrix of second mining sample.
Brief description of the drawings
Fig. 1 illustrates the radar installations according to one embodiment.
Fig. 2 (a) to Fig. 2 (c) illustrates the FFT processing in radar installations.
Fig. 3 (a) and Fig. 3 (b) illustrates the FFT processing in the radar installations according to one embodiment.
Fig. 4 illustrates the image generated by radar installations according to one embodiment.
Fig. 5 is the flow chart of the method for the operation for illustrating the radar installations according to one embodiment.
Embodiment
Fig. 1 illustrates the radar installations 100 according to one embodiment.Radar installations 100 includes transmitter 101.Transmitter 101 include local oscillator 102 and transmission antenna 104.Transmission antenna 104 is coupled to local oscillator 102.In a version In, power amplifier is coupling between local oscillator 102 and transmission antenna 104.Radar installations 100 also includes receiver 110.Receiver 110 includes reception antenna 108, low-noise amplifier (LNA) 112, frequency mixer 114, intermediate frequency (IF) wave filter 116 With analog-digital converter (ADC) 118.LNA 112 is coupled to reception antenna 108.Frequency mixer 114 is coupled to LNA 112. Frequency mixer 114 is also coupled to local oscillator 102.
IF wave filters 116 are coupled to frequency mixer 114.ADC 118 is coupled to IF wave filters 116.Processor 120 is by coupling Close ADC 118.In a version, radar installations 100 is included with receiver 110 in connection and similar multiple of operating aspect Receiver.Each receiver includes reception antenna, LNA, frequency mixer, IF wave filters and ADC.ADC quilts in each receiver It is coupled to processor 120.In one example, radar installations 100 includes multiple processors, and each receiver is coupled to One in processor.Radar installations 100 may include one or more extra components, for the simplicity of description, this In do not discuss.
In the operation of radar installations 100 in Fig. 1, it is (also referred to as linear to adjust that local oscillator 102 generates frequency ramp section Frequency signal).In one example, power amplifier is coupling between local oscillator 102 and transmission antenna 104.It is linear to adjust Frequency signal is amplified by power amplifier, and is provided to transmission antenna 104.Transmission antenna 104 in transmitter 101 sends line Property FM signal.Linear FM signal is scattered by one or more barriers to generate the signal of multiple scatterings.
One in the signal of scattering is received by receiver 110.Reception antenna 108 receives the signal of scattering.LNA 112 is put The signal scattered greatly.The linear FM signal and received from LNA 112 that frequency mixer 114 is mixed/generated frequently by local oscillator 102 Amplification scattering signal.Frequency mixer 114 generates IF (intermediate frequency) signal.IF signals are filtered by IF wave filters 116 to generate filter The IF signals of ripple.The IF signals of 118 sampling filters of ADC are to generate digital signal.
In the examples described above, when radar installations 100 includes multiple receivers, each receiver is received in the signal of scattering One and generate digital signal.The signal of scattering corresponds to be generated by the linear FM signal that transmission antenna 104 is sent. Therefore, processor 120 receives the digital signal from receiver.
Digital signal is handled by processor 120 to obtain the scope and angle of one or more barriers.Processor 120 FFT (Fast Fourier Transform (FFT)) is performed in digital signal.Peak value in FFT spectrum represents barrier, and in FFT spectrum The position of peak value is proportional to the relative distance of obstacle distance radar installations 100.The processing performed by processor 120 exists afterwards Come into question in the description combined with Fig. 3 (a) and Fig. 3 (b).
Fig. 2 (a) to Fig. 2 (c) illustrates the FFT processing in radar installations.FFT processing is explained with reference to radar installations 100. Radar installations 100 sends multiple linear FM signals.One group of linear FM signal forms frame.In one example, a frame includes N A linear FM signal, wherein, N is integer.Linear FM signal in N number of linear FM signal is by one or more obstacles Thing is scattered to generate the signal of multiple scatterings.
When radar installations 100 includes multiple receivers, each receiver receives one in the signal of scattering, and generates Digital signal.Therefore, processor 120 receives the digital signal from receiver.Digital signal corresponds to N number of linear FM signal In the linear FM signal.
Processor 120 performed in each digital signal received from receiver scope FFT (Fast Fourier Transform (FFT)) or 1D FFT.The scope FFT data generated on receiver and linear FM signal group by processor 120 is stored in processor In primary memory in 120.It is explained in fig. 2 a for the situation of four receivers.
Fig. 2 (a) illustrates four matrixes for being expressed as M1, M2, M3 and M4 generated corresponding to four receivers.These Matrix is stored in primary memory.Frame includes the first linear FM signal, the second linear FM signal to N linear frequency modulations Signal.Processor 120 receives the number corresponding to the first linear FM signal (linear FM signal #1) from four receivers Word signal.First receiver generates the first digital signal for the first linear FM signal (linear FM signal #1).Processor 120 generations correspond to the scope FFT data 202 of the first digital signal and store it in matrix M1.
Second receiver generates the second digital signal for the first linear FM signal (linear FM signal #1).Processor 120 generations correspond to the scope FFT data 204 of the second digital signal and store it in matrix M2.Similarly, processor 120 processing correspond to the first linear FM signal (linear FM signal #1) from what the 3rd receiver and the 4th receiver received Digital signal, and be stored in respectively in matrix M3 and matrix M4.
First receiver generates the 5th digital signal for the second linear FM signal (linear FM signal #2).Processor 120 generations correspond to the scope FFT data 212 of the 5th digital signal and store it in matrix M1.Second receiver pin 6th digital signal is generated to the second linear FM signal (linear FM signal #2).The generation of processor 120 corresponds to the 6th number The scope FFT data 214 of word signal and store it in matrix M2.Similarly, processor 120 is handled from the 3rd receiver The digital signal corresponding to the second linear FM signal (linear FM signal #2) received with the 4th receiver, and respectively will They are stored in matrix M3 and matrix M4.
In a similar way, processor 120 is in the reception corresponding to N linear FM signals (linear FM signal #N) Scope FFT is performed in digital signal, and scope FFT data is stored in corresponding matrix.For example, the first receiver generation pair The digital signal of Ying Yu N linear FM signals (linear FM signal #N).The generation of processor 120 corresponds to N linear frequency modulations The scope FFT data 220 of signal and store it in matrix M1.Scope FFT decomposes one or more barriers In scope.In one example, the size of scope FFT is Nrange。
After being stored in corresponding to the scope FFT data of whole frame in primary memory, how general radar installations 100 perform (Doppler) FFT or 2D FFT are strangled, as shown in Fig. 2 (b).Doppler FFT is performed on row C1, C2 to CM, and by processor Doppler's FFT data of 120 generations is stored in Doppler's binary system (bin) as described in 240.In one example, model Enclose FFT data and be stored on the row of primary memory (by Fig. 2 (a) Suo Shi), it is referred to as scope binary system and is shown as 230.On the row of primary memory perform Doppler FFT, and Doppler's FFT data be stored in be shown as 240 it is how general Strangle in binary system (by Fig. 2 (b) Suo Shi).
In another example, scope FFT data is stored on the row of primary memory.Correspondingly, stored in primary Doppler FFT is performed on the row of device.In one example, the size of Doppler FFT is Ndoppler.Held when in Doppler FFT During row zero padding/zero padding, NdopplerMore than the quantity of every frame linearity FM signal.Doppler FFT is by one or more obstacles Thing is decomposed in Doppler.
After processor 120 performs scope FFT and Doppler FFT, each matrix includes more numbers as shown in Fig. 2 (c) According to binary system.For example, matrix M1 includes data binary system (1,1), (2,1) to (M, N).Similar data binary system is in matrix Produced in M2, M3 and M4.Next, processor 120 performs angle FFT in the data being stored in primary memory.Along The corresponding element of matrix performs angle FFT.Therefore, angle is performed along M1 (i, j), M2 (i, j), M3 (i, j) and M4 (i, j) FFT.For example, angle FFT is performed on ensuing data binary system M1 (1,1), M2 (1,1), M3 (1,1) and M4 (1,1).
Angle FFT is performed on all data binary systems of matrix M1 to M4.In one example, the size of angle FFT It is Nangle.When performing zero padding in angle FFT, NangleMore than the quantity of the receiver in radar installations 100.Scope It is after Doppler FFT and Doppler FFT to be the order of angle FFT after FFT respectively by one or more barriers point Solution is in scope, speed and angle.Processor 120 is using this sequentially to determine the scope of one or more obstacles, speed And angle.
However, this FFT treatment technology used by processor 120 needs substantial amounts of primary memory.Need to be stored The quantity of sampling in primary memory is (Nrange)×(Ndoppler)×(Nangle).In one example, this is deposited in primary The size of 512MB is needed in reservoir.Big primary memory negatively affects the size of radar installations 100.
Fig. 3 (a) and 3 (b) illustrate the FFT processing in the radar installations according to one embodiment.FFT processing combines radar and fills 100 are put to explain.Radar installations 100 sends multiple linear FM signals.One group of linear FM signal forms frame.Show at one In example, frame includes N number of linear FM signal, and wherein N is integer.
Frame includes the first linear FM signal.Transmitter 101 in radar installations 100 sends the first linear frequency modulation letter Number.First linear FM signal is scattered by one or more barriers to generate the signal of more than first scattering.Filled with radar Put the signal that the similar multiple receivers of the receiver 110 in 100 receive more than first scatterings.For ease of understanding, at this In example, radar installations 100 includes four receivers, receiver #1, receiver #2, receiver #3 and receiver #4.These connect Receive a generation digital signal in each signal in response to more than first scatterings in device.Therefore, radar installations 100 responds More than first a digital signals are generated in the first linear FM signal.Processor 120 receives more than first a digital signals from receiver, And scope FFT (Fast Fourier Transform (FFT)) is performed in digital signal to generate institute in the Fig. 3 (a) for corresponding to four receivers The matrix shown.Matrix is stored in primary memory.
Processor 120 receives the digital signal corresponding to the first linear FM signal from four receivers.First receiver (receiver #1) generates the first digital signal for the first linear FM signal.The generation of processor 120 corresponds to the first numeral and believes Number scope FFT data 302 and store it in matrix.
Second receiver (receiver #2) generates the second digital signal for the first linear FM signal.Processor 120 is given birth to Into the scope FFT data 304 corresponding to the second digital signal and store it in matrix.3rd receiver (receiver #3) The 3rd digital signal is generated for the first linear FM signal.Scope FFT of the generation of processor 120 corresponding to the 3rd digital signal Data 306 and store it in matrix.4th receiver (receiver #4) is for the first linear FM signal generation the 4th Digital signal.The generation of processor 120 corresponds to the scope FFT data 308 of the 4th digital signal and stores it in matrix.
Scope FFT decomposes one or more barriers in scope.In one example, the size of scope FFT is Nrange.After being stored in corresponding to the scope FFT data of the first linear FM signal in primary memory, radar installations 100 perform angle FFT or 3D FFT, as shown in Fig. 3 (b).
Angle FFT is performed on row C1, C2 to CN to generate the first matrix of second mining sample.Processor 120 performs angle FFT And the first matrix of second mining sample is stored in primary memory.First matrix of second mining sample is believed corresponding to the first linear frequency modulation Number.In one example, scope FFT data is stored on the row of primary memory (as shown in Fig. 3 (a)).Deposited in primary Angle FFT is performed on the row of reservoir, and the first matrix of the second mining sample therefore generated is stored in primary memory (as schemed Shown in 3 (b)).
In another example, scope FFT data is stored on the row of primary memory.Therefore, in primary memory Row on perform angle FFT.In one example, the size of angle FFT is Nangle.It is this of angle FFT after scope FFT Order respectively decomposes one or more barriers in scope and angle.In one example, processor 120 uses second mining Peak value in the matrix of sample is with the scope and angle of definite one or more barriers.
Processor 120 generates the first output data from the first matrix of second mining sample.First output data corresponds to First Line Property FM signal.In one example, the first output data is generated from the nonlinear operation on the first matrix of second mining sample.It is non- Linear operation is at least one in modulo operation and Amplitude-squared computing.In modulo operation, for the first square of second mining sample Each sampling generation absolute value of battle array.In Amplitude-squared computing, the real part each sampled and void of the first matrix of second mining sample Portion is squared and is summed.First output data is also the form of matrix.First output data is stored in secondary by processor 120 In memory.
With with similar mode described above, processor 120 is from the second mining generated corresponding to the second linear FM signal Nonlinear operation on second matrix of sample generates the second output data.Second linear FM signal is by the transmission day in transmitter Line 104 is sent.Second linear FM signal is scattered by one or more barriers to generate the signal of more than second scattering. Multiple receivers in radar installations 100 receive the signal of more than second scatterings, and generate more than second a digital signals.
Processor 120 is performing scope FFT and angle FFT to generate the second square of second mining sample in a digital signal more than second Battle array.Processor 120 generates the second output data from the second matrix of second mining sample.In a version, processor 120 is incoherently First matrix of cumulative second mining sample and the second matrix of second mining sample are to generate two dimensional image.
In another version, processor 120 is configured as making the second output data and is stored in the of second-level storage One output data is added to generate two dimensional image.This shows in following equation：
Bfinal=Bfirst+Bsecond (1)
Wherein, BfirstIt is the first output data, BsecondIt is the second output data, and BfinalIt is that secondary is stored in by addition The final data that the first output data in memory obtains.BfinalDevice 120 is used for the treatment of to generate two dimensional image.
In another version, processor 120 is configured as putting down the weighting of the first output data and the second output data Average is added to generate two dimensional image.Two dimensional image is stored in second-level storage.Processor 120 determines one from two dimensional image The scope and angle of a or more barrier.This shows in following equation：
Bfinal=α Bfirst+(1-α)Bsecond (2)
Wherein, α represents weight.
The use of the storage requirement of noncoherent accumulation technology is N by processor 120range×Nangle× 2 (wherein, 2 because Son is used to explain both primary memory and second-level storage).This storage requirement discussed than combining Fig. 2 (a) to Fig. 2 (c) It is much smaller.
When multiple linear FM signals are sent by transmitter 101, the FFT processing in radar installations 100 is explained.When When linear FM signal includes the first linear FM signal and the second linear FM signal, with reference to the first linear FM signal and the The processing that bilinear FM signal is explained above is consistent with following description.
Transmitter 101 in radar installations 100 sends linear FM signal.In one example, frame includes N number of linear FM signal, wherein N are integers.Multiple linear FM signals are scattered by one or more barriers to generate multiple scatterings Signal.
Radar installations 100 includes multiple receivers.Multiple receivers receive the signal of scattering.Each receiver receives scattering Signal in one and generate digital signal.Therefore, processor 120 receives digital signal from each receiver.Digital signal Corresponding to one in linear FM signal.
Processor 120 performs scope FFT and angle FFT in the digital signal received from receiver and corresponds to line to generate The matrix of the second mining sample of property FM signal.With the similar mode with combining more than first a digital signal discussion, processor 120 is held Line range FFT and angle FFT.The noncoherent cumulative each second mining sample corresponding in linear FM signal of processor 120 Matrix is to generate two dimensional image.
Processor 120 performs noncoherent accumulation in two ways.In the first way, processor 120 is by correspondence Nonlinear operation is performed on the matrix of the second mining sample of the generation of one in linear FM signal and generates output data.Output Data are stored in second-level storage.Processor 120 is by making output data and coming comfortable correspond in linear FM signal Each generation second mining sample matrix on perform nonlinear operation data be added and update second-level storage.Non-linear fortune It is at least one in modulo operation and Amplitude-squared computing.Final data is generated by updating output data.Processing Device generates two dimensional image from final data.This is shown by following equation.It is for this nonlinear operation for illustrating to use Modulo operation, the absolute value of the wherein matrix of second mining sample are considered.For example, initially, output data S0 is stored in secondary and deposits In reservoir, and the addition of processor 120 is corresponding to the exhausted to value ∣ x1 of the matrix of the second mining sample of the generation of the first linear FM signal ∣.In one example, output data S0 is initialized to zero.Final data provides as follows：
S1=S0+ | x1 | (3)
When the addition of processor 120 is corresponding to the Jue Dui Zhi ∣ x2 ∣ of the matrix of the second mining sample of the generation of the second linear FM signal When, final data provides as follows：
S2=S1+ | x2 | (4)
Therefore, when the addition of processor 120 is corresponding to the absolute value of the matrix of the second mining sample of the generation of N linear FM signals During ∣ xn ∣, wherein N is integer, and final data provides as follows：
SN=S (N-1)+| xn | (5)
In the second way, the second mining sample of the generation of one of the processor 120 from corresponding to linear FM signal The nonlinear operation generation output data performed on matrix.Output data is stored in second-level storage.Processor 120 passes through Make to perform on the matrix of output data and the second mining sample of the next comfortable each generation corresponded in linear FM signal non-linear The weighted average order of the data of computing is added and updates second-level storage.Final data is given birth to by updating output data Into.Processor generates two dimensional image from final data.This is shown by following equation.Used for this explanation non-linear Computing is modulo operation, and the absolute value of the wherein matrix of second mining sample is considered.For example, initially, output data S0 is stored in Second-level storage.In one example, output data S0 is initialized to zero.Final data provides as follows：
S1=α S0+ (1- α) | x1 | (6)
Wherein, α is weight.
When the addition of processor 120 is corresponding to the Jue Dui Zhi ∣ x2 ∣ of the matrix of the second mining sample of the generation of the second linear FM signal When, final data provides as follows：
S2=α S1+ (1- α) | x2 | (7)
Therefore, when the addition of processor 120 is corresponding to the absolute value of the matrix of the second mining sample of the generation of N linear FM signals During ∣ xn ∣, wherein N is integer, and final data provides as follows：
SN=α S (N-1)+(1- α) | xn | (8)
Processor 120 determines scope and the angle of one or more barriers from the two dimensional image corresponding to final data Degree.As described above, the noncoherent accumulation of the data in multiple linear FM signals is used for the signal-to-noise ratio for improving radar installations 100 (SNR).In one example, processor 120 incoherently add up correspond to frame in N number of linear FM signal data ( In second-level storage), and then perform the scope of one or more barriers and determining for angle.
In another example, the number that processor 120 incoherently adds up corresponding to limited number of linear FM signal According to (in second-level storage), and then perform the scope of one or more barriers and determining for angle.When continuous When linear FM signal is sent by transmitter 101, this characteristic is useful.
In addition, by using the difference in the scope of the barrier on successive frame, the speed of barrier can be measured.
Fig. 4 illustrates the image generated by radar installations according to one embodiment.Image uses combination by radar installations 100 Fig. 3 (a) and the FFT of 3 (b) description are handled and are generated.Fig. 4 illustrates that radar installations includes 8 receivers, and each linear tune Frequency signal has 256 sampling (Nrange=256).
Fig. 4 is the curve of the final data (SN) after the noncoherent accumulation for representing 64 linear FM signals in frame Figure.Fig. 4 illustrates in NrangeFor 50 and angle index/scale be 2 when the peak value that occurs.For the range resolution with 4cm Radar installations 100, NrangeFor 50 scopes for corresponding to 50 × 4=200cm.Similarly, angle index corresponds to sin (2* for 2 The quantity of 2/ receiver)=30 degree of azimuth.
Fig. 5 illustrates the flow chart of the method for the operation of the radar installations according to one embodiment.At step 502, generation Multiple linear FM signals.In one example, frame includes N number of linear FM signal, and wherein N is integer.At step 504, Generation corresponds to multiple digital signals of one in linear FM signal.Multiple linear FM signals are by one or more barriers Thing scattering is hindered to generate the signal of multiple scatterings for each linear FM signal.For example, the radar installations 100 shown in Fig. 1 Including multiple receivers.For each linear FM signal, receiver receives the signal of scattering.Each receiver receives scattering One in signal and generate digital signal.
At step 506, pass through corresponding to the matrix of the second mining sample of linear FM signal corresponding to linear FM signal Generation digital signal on perform scope FFT (Fast Fourier Transform (FFT)) and angle FFT and be generated.Processor (such as Fig. 1 Shown in processor 120) from each receiver receive digital signal.Digital signal corresponds to linear FM signal.Processor Scope FFT and angle FFT is performed in the digital signal received from receiver to generate the second mining corresponding to linear FM signal The matrix of sample.
At step 508, corresponding to each second mining sample in linear FM signal matrix by irrelevant add up with Generate two dimensional image.Processor determines the scope and angle of one or more barriers from two dimensional image.In multiple linear tune The noncoherent accumulation of data on frequency signal is used for the signal-to-noise ratio (SNR) for improving radar installations.
In the embodiments described, modification is possible, and within the scope of the claims, other embodiments are possible 's.

Claims (20)

1. a kind of radar installations, it includes：
Transmitter, it is configured as sending the first linear FM signal, and first linear FM signal is by one or more Barrier is scattered to generate the signal of more than first scattering；
Multiple receivers, it is configured as receiving more than described first a signal for scattering, and each in the multiple receiver connects Receive the signal generation digital signal for the scattering that device is configured to respond in the signal of more than described first scattering；And
Processor, it is coupled to the multiple receiver and is configured as receiving the numeral letter from the multiple receiver Number, the processor is configured as performing scope FFT i.e. scope in the digital signal received from the multiple receiver Fast Fourier Transform (FFT) and angle FFT are to generate the first matrix of second mining sample.
2. radar installations according to claim 1, wherein, the processor is configured as first square in second mining sample Nonlinear operation is performed in battle array to generate the first output data corresponding to first linear FM signal, and is configured as The nonlinear operation is performed on the second matrix of second mining sample to generate the second output corresponding to the second linear FM signal Data.
3. radar installations according to claim 2, wherein, the processor be configured as making first output data and Second output data is added to generate two dimensional image.
4. radar installations according to claim 2, wherein, the processor be configured as making first output data and The weighted average of second output data is added to generate two dimensional image.
5. radar installations according to claim 1, wherein, the processor is configured as determining institute from the two dimensional image State the scope and angle of one or more barriers.
6. radar installations according to claim 1, wherein, the transmitter includes：
Local oscillator, it is configurable to generate first linear FM signal；And
Transmission antenna, it is coupled to the local oscillator and is configured as sending first linear FM signal.
7. radar installations according to claim 1, wherein, each receiver in the multiple receiver includes：
Reception antenna, it is configured as receiving the signal of the scattering in the signal of the multiple scattering；
Low-noise amplifier, that is, LNA, it is configured as amplifying the signal of the scattering to generate the signal of the scattering of amplification；
Frequency mixer, it is coupled to the LNA and the local oscillator, and the frequency mixer is configured as being mixed the amplification The signal of scattering and first linear FM signal are to generate IF signals i.e. intermediate-freuqncy signal；
IF wave filters, it is coupled to the frequency mixer and is configured as the IF signals from IF signal generations filtering；With And
ADC, that is, analog-digital converter, its IF letter for being coupled to the IF wave filters and being configured as sampling the filtering Number to generate the digital signal.
8. a kind of radar installations, it includes：
Transmitter, it is configured as sending multiple linear FM signals, and the multiple linear FM signal is by one or more Barrier is scattered to generate the signal of multiple scatterings；
Multiple receivers, it is configured as the signal for receiving the multiple scattering, each receiver in the multiple receiver The signal generation digital signal for the scattering being configured to respond in the signal of the multiple scattering；And
Processor, it is coupled to the multiple receiver and is configured as receiving the digital signal from each receiver, The processor is configured as：The digital signal is received from each receiver in the multiple receiver, is connect from each The digital signal of device is received corresponding to the linear FM signal in the multiple linear FM signal；From the multiple reception Scope FFT, that is, scope Fast Fourier Transform (FFT) is performed in the digital signal that device receives and angle FFT corresponds to institute to generate State the matrix of the second mining sample of linear FM signal；And incoherently add up corresponding to every in the multiple linear FM signal The matrix of the second mining sample of a linear FM signal is to generate two dimensional image.
9. radar installations according to claim 8, wherein, the matrix for the second mining sample that incoherently adds up further wraps Contain：
Performed on the matrix of the second mining sample of the generation of the linear FM signal in corresponding to the multiple linear FM signal non- Linear operation, to generate output data；
The output data is stored in second-level storage；
By making the output data and carrying out the comfortable each linear FM signal corresponded in the multiple linear FM signal Generation second mining sample matrix on perform the nonlinear operation data be added and update described defeated in second-level storage Go out data, wherein final data is generated by updating the output data；And
The two dimensional image is generated from the final data.
10. radar installations according to claim 8, wherein, the matrix for the second mining sample that incoherently adds up further wraps Contain：
Performed on the matrix of the second mining sample of the generation of the linear FM signal in corresponding to the multiple linear FM signal non- Linear operation, to generate output data；
The output data is stored in second-level storage；
By making the output data and carrying out the comfortable each linear FM signal corresponded in the multiple linear FM signal Generation second mining sample matrix on perform the nonlinear operation the weighted average orders of data be added and update secondary The output data in memory, wherein final data are generated by updating the output data；And
The two dimensional image is generated from the final data.
11. radar installations according to claim 8, wherein, the processor is configured as determining from the two dimensional image The scope and angle of one or more barrier.
12. a kind of method, it includes：
More than first a digital signals are generated in response to the first linear FM signal；
It is multiple to generate performing scope FFT, that is, scope Fast Fourier Transform (FFT) and angle FFT more than described first in a digital signal First matrix of sampling；
Nonlinear operation is performed on first matrix of second mining sample to generate the first output data；
More than second a digital signals are generated in response to the second linear FM signal；
Scope FFT and angle FFT is being performed more than described second in a digital signal to generate the second matrix of second mining sample；
The nonlinear operation is performed on second matrix of second mining sample to generate the second output data；
From first output data and second output data generation two dimensional image；And
The scope and angle of one or more barriers are determined from the two dimensional image.
13. according to the method for claim 12, wherein, generate the two dimensional image and further include：Make described first defeated Go out data to be added with second output data.
14. according to the method for claim 12, wherein, generate the two dimensional image and further include：Make described first defeated The weighted average for going out data with second output data is added.
15. according to the method for claim 12, it is further included：
First linear FM signal is sent, wherein the First Line FM signal is by one or more barrier Scatter to generate the signal of more than first scattering；
More than first a digital signals described in signal generation from more than described first scatterings；
Second linear FM signal is sent, wherein second linear FM signal is by one or more barrier Scatter to generate the signal of more than second scattering；And
More than second a digital signals described in signal generation from more than described second scatterings.
16. a kind of method, it includes：
Generate multiple linear FM signals；
Generation corresponds to multiple digital signals of the linear FM signal in the multiple linear FM signal；
It is fast by performing scope FFT, that is, scope in the multiple digital signal of the generation corresponding to the linear FM signal Fast Fourier transformation and angle FFT and generate the matrix of the second mining sample corresponding to the linear FM signal；And
The matrix incoherently to add up corresponding to the second mining sample of each linear FM signal in the multiple linear FM signal, To generate two dimensional image.
17. according to the method for claim 16, wherein, the matrix for the second mining sample that incoherently adds up further includes：
Performed on the matrix of the second mining sample of the generation of the linear FM signal in corresponding to the multiple linear FM signal non- Linear operation, to generate output data；
The output data is stored in second-level storage；
By making the output data and carrying out the comfortable each linear FM signal corresponded in the multiple linear FM signal Generation second mining sample matrix on perform the nonlinear operation data be added and update described in second-level storage Output data, wherein final data are generated by updating the output data；And
The two dimensional image is generated from the final data.
18. according to the method for claim 16, wherein, the matrix for the second mining sample that incoherently adds up further includes：
Performed on the matrix of the second mining sample of the generation of the linear FM signal in corresponding to the multiple linear FM signal non- Linear operation, to generate output data；
The output data is stored in second-level storage；
By making the output data and carrying out the comfortable each linear FM signal corresponded in the multiple linear FM signal Generation second mining sample matrix on perform the nonlinear operation the weighted average orders of data be added and update secondary The output data in memory, wherein final data are generated by updating the output data；And
The two dimensional image is generated from the final data.
19. according to the method for claim 16, it is further included：Determined from the two dimensional image one or more The scope and angle of a barrier.
20. according to the method for claim 16, it is further included：
The multiple linear FM signal is sent, wherein the linear FM signal in the multiple linear FM signal is by described one A or more barrier is scattered to generate the signal of multiple scatterings；And
Correspond to the multiple digital signal of the linear FM signal from the signal generation of the multiple scattering.
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